I have started writing on Yoga Sutra of Patanjali about 16 days back.
Then suddenly I decided to write on Isa Upanishad a couple of Days back.
While dealing with the Isavasya(Isa Upanishad) Upanishad, I thought of writing on performing Actions without attachment in detail.
Some how it got postponed.
Now I find that Isa Upanishad also speaks on the subject in the sloka I have commented upon.
Hence I decided not to postpone this subject and this post.
(As I was writing on Isa Upanishad, I wanted to write on Nirvana Shadgam of Adi Sankaracarya. I misplaced the Text ; I found it to-day and posts will follow)

Action arises out of desires,
Desires of Feelings,
Feelings of satisfaction of instincts.
We can not help acting on our instincts. they are our Swabhava,Nature’ impelled by Gunas.(Refer my posts on Yoga sutra nd Gunas)
We continue seeking the objects that give us satisfaction and happiness.
When we interact with the Object for the first time, we do not have a preconceived notion that it would give us Pleasure.
We come to know of it after we experience them.
So the feelings of Joy oy pain do not reside in the object but in our perception of OUR enjoyment of them.
To remain detached, it is useless to address the issue to these objects, but we need to address the instrument of enjoyment, ourselves.
If we can think out our experiences after our experience of the Object, we will be able to outwit our propensity for enjoyment.
Mere removal of Objects will not drive way your desires, they will haunt your memory and your mind will seek them.
Remaining amidst sense Objects and remain unaffected is true renunciation.
There is this story of Rishyasrunga , a Great Seer, in Ramayana.
Rishyasrunga was a Celibate, A Naishtika Brahmachari.
A Niashtika Brahmachari is one whose semen does not flow downwards, that is, it is not discharged.
This is possible only when all the thoughts of Sex are not present , even unconsciously in the Mind.
Rishyasrunga was living in a Forest alone.
It is a common Belief that if a Naishtika Brahmachari steps into a Town. it would Rain.
A Kingdom was undergoing severe Drought.
The King decided to bring Rishyasrunga to the Kingdom so that it might Rain.
Rishyasrunga was brought to the Kingdom and it rained.
But on seeing women Rishyasrunga was infatuated with women and his thoughts wandered.
He was advised by Sage Vasishta that to be a true Yogi one should be able to remain amidst the sense objects and be self-controlled.
He did so.
When we perform action for the second time, we should distinguish between three types of Action.
Action, Inaction and Non Action.
Action is what we do everyday, with specific goals and the results, with passion.
Inaction is doing nothing.
Non action is performing an action because it has to be performed without any specific goal.
Nor with a desire to derive pleasure out of it.
This is the essence of karma Yoga.
Is this possible?
Yes.
Actions arise out of emotions, we can not do anything as we are in the process of performing an Action.
Once the performance of Action in over, we can think about it.
We can know the futility of pleasures,they are transient, not in our control, may go away from us.
Now if one thinks about these regularly by reviewing the actions he has performed a Mindset forms to desist from performing these actions in future when the occasion arise.
This performance with out Attachment , where one does not seek the results, but performs to his fullest potential is Karma Yoga.
And this a Path to Self Realization or the practice of Detachment.
http://ramanisblog.in/2013/04/29/who-owns-the-world-isa-upanishad-1/
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